Enable Node composition and pointcloud ipc

[tonynajjar]

Fixes

https://github.com/microsoft/Azure_Kinect_ROS_Driver/issues/268

Description of the changes:

Required before submitting a Pull Request:

• [x] I reviewed CONTRIBUTING.md
• [x] I built my changes locally
• [ ] I tested my changes with a device
• [ ] I changed both the ROS1 and ROS2 branches

I tested changes on:

• [ ] Windows
• [x] Linux
• [ ] ROS1
• [x] ROS2